Description
This parameter sets the gain for the velocity feedforward (a scaled derivative of the position command is added to the velocity command value). The nominal feedforward value can be multiplied by this gain value.
This parameter is only used in the position mode (AXIS#.OPMODE = 2).
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
|
Type |
Read/Write |
|
Units |
NA |
|
Range |
0 to 2 |
|
Default Value |
1 |
|
Data Type |
Float |
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
All variants are supported.
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.VL.KVFF |
5011h |
04h |
Signed32 |
- |
1000:1 |
Read/Write |
No |
|
AXIS2.VL.KVFF |
5111h |
04h |
Signed32 |
- |
1000:1 |
Read/Write |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
6030 |
1 |
6030 (0x178e) |
AXIS1.VL.KVFF |
Signed32 |
Read/Write |
Yes |
|
71566 |
2 |
6030 (0x178e) |
AXIS2.VL.KVFF |
Signed32 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.VL.KVFF |
6030 |
Float |
Read/Write |
- |
